func dendriteCam(deltaE chan float32, config Configuration) {
camera := C.cvCaptureFromCAM(-1)
// Shutdown dendrite if no camera detected.
if camera == nil {
fmt.Printf("WARNING: No camera detected. Shutting down DendriteCam\n")
return
}
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_WIDTH, 160)
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_HEIGHT, 120)
// Capture original frame.
prev := C.cvCloneImage(C.cvQueryFrame(camera))
// Save out the first frame for debuging purposes.
file := C.CString("frame.png")
C.cvSaveImage(file, unsafe.Pointer(prev), nil)
C.free(unsafe.Pointer(file))
flow := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_32F, 2)
prevG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
nextG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
for {
C.cvGrabFrame(camera)
// Capture the new frame and convert it to grayscale.
next := C.cvCloneImage(C.cvQueryFrame(camera))
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
C.cvConvertImage(unsafe.Pointer(next), unsafe.Pointer(nextG), 0)
C.cvCalcOpticalFlowFarneback(unsafe.Pointer(prevG), unsafe.Pointer(nextG), unsafe.Pointer(flow), 0.5, 2, 5, 2, 5, 1.1, 0)
deltaE <- float32(calcDeltaEnergy(flow, &config))
C.cvReleaseImage(&prev)
prev = next
}
// Never reached - but here in comments for completeness.
//C.cvReleaseImage(&prev)
//C.cvReleaseImage(&nextG)
//C.cvReleaseImage(&prevG)
//C.cvReleaseImage(&flow)
//C.cvReleaseCapture(&camera)
}
func getVideoSource(videoFile string) (camera *C.CvCapture, err error) {
if videoFile != "" {
file := C.CString(videoFile)
camera = C.cvCaptureFromFile(file)
C.free(unsafe.Pointer(file))
if camera == nil {
return camera, errors.New("Unable to open a video file. Shutting down scout.")
}
return camera, nil
} else {
camera = C.cvCreateCameraCapture(0)
if camera == nil {
return camera, errors.New("Unable to open webcam. Shutting down scout.")
}
// Make sure the webcam is set to 1080p.
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_WIDTH, 1920)
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_HEIGHT, 1080)
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_BUFFERSIZE, 1)
return camera, nil
}
}
func (capture *Capture) SetProperty(property_id int, value float64) int {
rv := C.cvSetCaptureProperty((*C.CvCapture)(capture),
C.int(property_id), C.double(value),
)
return int(rv)
}